Data Collection & Management:

Persistence

During simplified recording, active directories reside in /home/realman/ssd/mcap_recording/. Upon successful completion, the entire directory is moved to /home/realman/ssd/mcap_recorded/. Completed directories typically contain a .mcap file and metadata.yaml. Note that the mere presence of files in mcap_recorded does NOT constitute data acceptance.

export RECORDED_DIR='/home/realman/ssd/mcap_recorded/kitchen_pick_001-r-0123456789abcdef_20260715_120000_ac_3a_e2_3e_5b_dc'
ros2 bag info "$RECORDED_DIR"
scp -r "${ROBOT_USER}@${ROBOT_IP}:${RECORDED_DIR}" ./realbot-data/

ROBOT_USER is the robot login username.